US8914194B2 - Stimulus-based steering sensor device and method for the same - Google Patents

Stimulus-based steering sensor device and method for the same Download PDF

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Publication number
US8914194B2
US8914194B2 US13/567,408 US201213567408A US8914194B2 US 8914194 B2 US8914194 B2 US 8914194B2 US 201213567408 A US201213567408 A US 201213567408A US 8914194 B2 US8914194 B2 US 8914194B2
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sinusoidal signals
signal
wheels
stimulus
driven wheels
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US20130332031A1 (en
Inventor
Jin-Yan Hsu
Tsung-Hua Hsu
Chau-Chih Yu
Tsung-Hsien Hu
Chih-Jung Yeh
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Automotive Research and Testing Center
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Automotive Research and Testing Center
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0215—Determination of steering angle by measuring on the steering column
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
    • G01D5/2053—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils by a movable non-ferromagnetic conductive element

Definitions

  • the present invention relates to a sensor technology, particularly to a stimulus-based steering sensor device and a method for the same.
  • the automobile is an electromechanical device controlled by the driver.
  • the throttle and the steering system of an automobile must be controlled by the driver.
  • the driver interacts with the throttle system and the steering system through the accelerator pedal and the steering wheel.
  • the driver controls an automobile through a throttle controller and a steering controller, which can respectively measure the pedaling activity and the steering activity of the driver.
  • the pedaling activity and the steering activity will cause the related shafts to rotate.
  • An angle sensor device can measure the rotation angle of the related shaft and learn the extent of the pedaling or steering activity.
  • a dedicated microcomputer can use the measurement results to physically control the automobile or assist the driver in controlling the automobile. Therefore, the angle sensor plays a very important role in automobiles.
  • the conventional angle sensors may be categorized into the contact type, the magnetic type and the resolver type.
  • the contact type angle sensor is likely to wear in operation and hard to maintain its precision after long-term use. Besides, the operation of a contact type angle sensor needs an angle analysis program and is pretty complicated.
  • the magnetic type angle sensor needs a magnet whose source and reliability is not always guaranteed.
  • the current resolvers are normally used to detect the electrical angle of a motor or a single-revolution angle. No current resolver is used to detect a multi-revolution angle.
  • 201124699 disclosed a technology that uses two resolvers whose magnetic pole numbers are prime number to each other to measure angles, wherein the relationship between the mechanical angle and the variation of the electrical angle is used to implement angle conversion, whereby is obtained a real mechanical angle.
  • the prior art cannot measure a multi-revolution angle but can only detect a single-revolution angle.
  • very few current angle sensors incorporate a torque detection function needed by the emerging EPS (Electric Power Steering) system.
  • the present invention proposes a stimulus-based steering sensor device and a method for the same to overcome the abovementioned problems.
  • the primary objective of the present invention is to provide a high-stability, high-precision and high-weatherability stimulus-based steering sensor device and a method for the same, which use at least one driving wheel to drive two driven wheels to rotate at different speeds so as to make two resolvers generate sinusoidal signals with different periods, whereby to obtain a multi-revolution absolute angle, the torque direction and the torque value of the rotation of a steering wheel.
  • the present invention proposes stimulus-based steering sensor device, which comprises two driving wheels, a processor, two driven wheels, and two resolvers.
  • Two driving wheels are installed on a steering column of a steering wheel.
  • the processor generates a stimulus signal and has a signal-angle lookup table and a signal-differential torque lookup table.
  • Two driving wheels respectively contact two driven wheels.
  • Two driving wheels respectively drive two driven wheels to rotate at different speeds.
  • Two resolvers connect with the processor and respectively engage with two driven wheels. The resolvers receive the stimulus signal and respectively output two first sinusoidal signals to the processor according to the rotational speeds of two driven wheels.
  • the processor analyzes two first sinusoidal signals to obtain two second sinusoidal signals, and uses the second sinusoidal signals, the signal-angle lookup table, and the signal-differential torque lookup table to obtain a first angle value, a torque direction and a torque value of the rotation of the steering wheel.
  • the present invention also proposes a stimulus-based steering sensing method, which comprises steps: two driving wheels, which are installed on a steering column of a steering wheel, following the rotation of the steering column and driving two driven wheels to rotate at different speeds; two resolvers receiving a stimulus signal and respectively outputting two first sinusoidal signals to a processor according to the rotational speeds of two driven wheels; the processor analyzing two first sinusoidal signals to obtain two second sinusoidal signals having different periods, and using the second sinusoidal signals, a signal-angle lookup table, and a signal-differential torque lookup table to obtain a first angle value, a torque direction and a torque value of the rotation of the steering wheel.
  • FIG. 1 schematically shows the structure of a stimulus-based steering sensor device according to a first embodiment of the present invention
  • FIG. 2 schematically shows the circuitry of a stimulus-based steering sensor device according to the first embodiment of the present invention
  • FIG. 3( a ) shows the waveforms of a first sinusoidal signals of a stimulus-based steering sensor device according to the first embodiment of the present invention
  • FIG. 3( b ) shows the waveforms of a second sinusoidal signals of a stimulus-based steering sensor device according to the first embodiment of the present invention
  • FIG. 4 shows the flowchart of a stimulus-based steering sensing method according to the first embodiment of the present invention
  • FIG. 5 schematically shows the structure of a driving wheel and two driven wheels respectively having different diameters according to the first embodiment of the present invention
  • FIG. 7 is an exploded view of a driving wheel according to the first embodiment of the present invention.
  • FIG. 8 schematically shows the structure of a stimulus-based steering sensor device according to a second embodiment of the present invention.
  • FIG. 10 shows the waveforms of zero-torque sinusoidal signals, third sinusoidal signals and second sinusoidal signals according to the second embodiment of the present invention
  • FIG. 11 shows the flowchart of a stimulus-based steering sensing method according to the second embodiment of the present invention.
  • FIG. 12 schematically shows the structure of two driving wheels and two driven wheels, which all have inclined faces, according to the second embodiment of the present invention
  • FIG. 13 schematically shows the structure of two driving wheels and two driven wheels, which all have vertical faces, according to the second embodiment of the present invention.
  • FIG. 14 schematically shows the structure of two driving wheels and two driven wheels, which are in form of planar wheels, according to the second embodiment of the present invention.
  • the stimulus-based steering sensor device of the present invention comprises at least one driving wheel 10 , a processor 14 , two driven wheels 16 and two resolvers 18 .
  • the driving wheel 10 is installed on a steering column 12 .
  • the processor 14 generates a stimulus signal and has a signal-angle lookup table.
  • the driving wheel 10 contacts two driven wheels 16 .
  • the driving wheel 10 drives the two driven wheels 16 to rotate at different speeds.
  • the processor 14 connects with two resolvers 18 .
  • Two resolvers 18 include at least one stator 20 and two rotators 22 .
  • the stator 20 connects with the processor 14 .
  • Two rotators 22 are arranged between the primary side and the secondary side of the stator 20 .
  • Two rotators 22 engage with two driven wheels 16 and rotate with the two driven wheels 16 .
  • the stator 20 receives the stimulus signal and outputs two first sinusoidal signals according to the electromagnetic inductions generated by the two rotators 22 that respectively follow the rotations of two driven wheels 16 .
  • the processor 14 includes a microcontroller 24 having a built-in signal-angle lookup table and generating a PWM (Pulse Width Modulation) signal.
  • a filter-amplifier 26 connects with the microcontroller 24 and the stator 20 of two resolvers 18 , receiving, filtering and amplifying the PWM signal to output the stimulus signal.
  • the microcontroller 24 and the common stator 20 of two resolvers 18 connect with a first amplifier 28 and a second amplifier 30 .
  • the first amplifier 28 and the second amplifier 30 respectively receive the first sinusoidal signals, perform the gain transfer of the first sinusoidal signals, and outputs the scaled first sinusoidal signals to the microcontroller 24 , whereby the microcontroller 24 can filter out the carrier waves of two first sinusoidal signals and obtain two second sinusoidal signals.
  • the microcontroller 24 obtains a first absolute angle value, using the second sinusoidal signals and the signal-angle lookup table.
  • An output unit 32 connects with the microcontroller 24 of the processor 14 and outputs the first absolute angle value.
  • the output unit 32 may be CAN (Controller Area Network), an analog output module, UART (Universal Asynchronous Receiver/Transmitter), or a serial bus interface (such as SPI (Serial Peripheral Interface) or I 2 C (Inter-Integrated Circuit).
  • Step S 16 the microcontroller 24 filters out the carrier waves of two scaled first sinusoidal signals and obtains two second sinusoidal signals.
  • Step S 18 the microcontroller 24 uses the second sinusoidal signals and a signal-angle lookup table to obtain a first absolute angle value.
  • an output unit 32 outputs the first absolute angle value, which is used in a vehicular steering system.
  • the present invention can detect an absolute angle, using merely two resolvers and the deceleration mechanism formed by two driven wheels. In the present invention, the detection range of the angle of the steering wheel can be regulated via modifying the gear ratio of the deceleration mechanism.
  • the present invention does not use complicated structure or complicated programs. Further, the present invention is exempted from abrasion and special materials. Therefore, the present invention has high stability, high precision and high weatherability.
  • Step S 14 and Step S 16 it is alternatively undertaken in Step S 14 and Step S 16 that the processor 14 directly receives and analyzes two first sinusoidal signals to obtain two second sinusoidal signals respectively having different periods.
  • the driving wheel 10 and two driven wheels 16 may be gears, friction wheels, or planar wheels.
  • the tooth faces of the driving wheel 10 which contact driven wheels 16 , respectively have different numbers of teeth.
  • the tooth face having a greater diameter has more teeth, and the tooth face having a smaller diameter has less teeth.
  • two driven wheels 16 rotate at different speeds.
  • the driving wheel 10 and two driven wheels 16 are friction wheels, the driven wheels 16 respectively have different diameter ratios with respect to the driving wheel 10 and thus rotate at different speeds.
  • the driving wheel 10 and two driven wheels 16 are planar wheels, the positions where two driven wheels 16 contact the driving wheel 10 have different distances to the center of the driving wheel 10 , as shown in FIG. 6 .
  • two driven wheels 16 respectively rotate at different speeds.
  • the second embodiment is different from the first embodiment in that the steering sensor device has two driving wheels 10 respectively contacting the driven wheels 16 .
  • the processor 14 generates a stimulus signal and has a signal-angle lookup table and a signal-differential torque lookup table.
  • the driving wheels 10 follow the rotation of the steering wheel and the steering column 12 and drive the driven wheels 16 to rotate at different speeds.
  • the processor 14 connects with two resolvers 18 .
  • the two resolvers 18 may be of the same specification, i.e. the two resolvers 18 have an identical magnetic pole number. Two resolvers 18 respectively engage with two driven wheels 16 .
  • the driving wheels 10 , the processor 14 , two driven wheels 16 and two resolvers 18 form a modularized structure.
  • the processor 14 generates two third sinusoidal signals A and E via eliminating the torque information from two second sinusoidal signals according to the direction and value of the torque.
  • the processor 14 uses two third sinusoidal signals and the signal-angle lookup table to obtain a first absolute angle value and records the first absolute angle value.
  • the second absolute angle value is a preset value or the first absolute angle value recorded latest.
  • the processor 14 includes a microcontroller 24 .
  • the microcontroller 24 has a built-in signal-angle lookup table and a built-in signal-differential torque lookup table and generates a PWM signal.
  • a filter-amplifier 26 connects with the microcontroller 24 and the stator 20 of two resolvers 18 , receives, filters and amplifies the PWM signal to output a stimulus signal.
  • a first amplifier 28 and a second amplifier 30 connect with the microcontroller 24 and the stator 20 of two resolvers 18 . The first amplifier 28 and the second amplifier 30 respectively receive two first sinusoidal signals, perform gain transfer thereof, and output the scaled first sinusoidal signals to the microcontroller 24 .
  • the microcontroller 24 filters out the carrier waves of two first sinusoidal signals to obtain two second sinusoidal signals.
  • the microcontroller 24 uses the signal-angle lookup table to obtain two zero-torque sinusoidal signals corresponding to a second absolute angle value, and finds out the difference between two second sinusoidal signals and two zero-torque sinusoidal signals. Then, the microcontroller 24 uses the difference and the signal-differential torque lookup table to obtain the value and direction of the rotation torque of the steering wheel. Next, the microcontroller 24 removes the torque information from two second sinusoidal signals according to the direction and value of the torque so as to generate two torque-free third sinusoidal signals.
  • the microcontroller 24 uses two third sinusoidal signals and the signal-angle lookup table to obtain a first absolute angle value of the rotation of the steering wheel and records the first absolute angle value.
  • the second absolute angle value is a preset value or the first absolute angle value recorded latest.
  • An output unit 32 connects with the microcontroller 24 and outputs the first absolute angle value, the value and direction of torque.
  • the output unit 32 may be CAN (Controller Area Network), an analog output module, UART (Universal Asynchronous Receiver/Transmitter), or a serial bus interface (such as SPI (Serial Peripheral Interface) or I 2 C (Inter-Integrated Circuit).
  • Step S 22 two driving wheels 10 follow the rotation of a steering column 12 and respectively drive two driven wheels 16 to rotate at different speeds.
  • a stator 20 of two resolvers 18 receives a stimulus signal and outputs two first sinusoidal signals according to the electromagnetic inductions, which are generated by two rotators 22 respectively following the rotations of two driven wheels 16 .
  • Step S 26 a first amplifier 28 and a second amplifier 30 respectively receive two first sinusoidal signals, undertake gain transfer of the first sinusoidal signals, and output the scaled first sinusoidal signals to a microcontroller 24 .
  • Step S 28 the microcontroller 24 filters out the carrier waves of two first sinusoidal signals and obtains two second sinusoidal signals.
  • Step S 30 the microcontroller 24 uses a signal-angle lookup table to obtain two zero-torque sinusoidal signals corresponding to a preset value functioning as a second absolute angle value.
  • Step S 32 the microcontroller 24 finds out the difference between two second sinusoidal signals and two zero-torque sinusoidal signals, and uses the difference and the signal-differential torque lookup table to obtain the value and direction of the torque.
  • Step S 34 the microcontroller 24 removes the torque information from two second sinusoidal signals according to the direction and value of the torque so as to generate two torque-free third sinusoidal signals.
  • Step S 36 the microcontroller 24 uses two third sinusoidal signals and the signal-angle lookup table to obtain a first absolute angle value and records the first absolute angle value.
  • Step S 38 an output unit 32 outputs the first absolute angle value, the direction and value of the torque. Then, the process returns to Step S 24 .
  • the second absolute angle value used in Step S 30 is no more the preset value but the first absolute value recorded latest.
  • Step S 26 and Step S 28 it is alternatively undertaken in Step S 26 and Step S 28 that the processor 14 directly receives and analyzes two first sinusoidal signals to obtain two second sinusoidal signals respectively having different periods.
  • Steps S 30 -S 36 are replaced by a step: the processor 14 directly uses the second sinusoidal signals, the signal-angle lookup table, and the signal-differential torque lookup table to obtain the first absolute angle value, the direction and value of the torque.
  • two driving wheels 10 and two driven wheels 16 may be gears, friction wheels, or planar wheels.
  • the tooth faces of the driving wheels 10 which respectively contact driven wheels 16 , have different numbers of teeth.
  • the tooth face having a greater diameter has more teeth
  • the tooth face having a smaller diameter has less teeth.
  • two driven wheels 16 rotate at different speeds.
  • tooth faces of the driving wheels 10 are inclined faces.
  • tooth faces of the driving wheels 10 are vertical faces.
  • two driven wheels 16 respectively contact the driving wheels 10 at different positions with different distances to the central axis of the driving wheels 10 , as shown in FIG. 14 .
  • two driven wheels 16 respectively rotate at different speeds.
  • the present invention can easily measure a torque or a multi-revolution angle, using one or two driving wheels to drive two driven wheels to rotate at different speeds.
  • the present invention is applicable to an EPS system.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
US13/567,408 2012-06-07 2012-08-06 Stimulus-based steering sensor device and method for the same Active 2033-03-05 US8914194B2 (en)

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TW101120528 2012-06-07
TW101120528A TW201350374A (zh) 2012-06-07 2012-06-07 激發式轉向感測裝置及其感測方法
TW101120528A 2012-06-07

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CN (1) CN103486962B (zh)
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JP6136595B2 (ja) * 2013-06-04 2017-05-31 株式会社ジェイテクト アクチュエータ制御装置
TWI760941B (zh) * 2020-11-26 2022-04-11 易維特科技股份有限公司 角度感知裝置

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TW201124699A (en) 2010-01-14 2011-07-16 Hiwin Mikrosystem Corp Resolver unit

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Publication number Publication date
US20130332031A1 (en) 2013-12-12
DE102012109119A1 (de) 2013-12-12
CN103486962A (zh) 2014-01-01
DE102012109119B4 (de) 2018-08-02
TW201350374A (zh) 2013-12-16
CN103486962B (zh) 2015-12-02
TWI498243B (zh) 2015-09-01

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